bayesclasses-general — Bayes++ General discussion and announcments

[Bayes++] Covariance matrix R

[Robert Z. <eer...@ya...>]

Dear all,=0A=0AI have read the post name "Covariance matrix Q" in this mail=
 list. I have a question on the covariance matrix R which is used in the li=
nearize observe model when the EKF is employed. Is it generated similar to =
Q? However, I do not find any Jacobian matrix same as  G  in the  "Linrz_un=
correlated_observe_model. Thanks for any help.=0A=0ARegards,=0AZhang Xinzhe=
ng=0A=0A=0A=0A__________________________________________________=0ADo You Y=
ahoo!?=0ATired of spam?  Yahoo! Mail has the best spam protection around =
=0Ahttp://mail.yahoo.com 

Re: [Bayes++] bjam Build question

[yon <yo...@ci...>]

Hello,

Thanks for the bjam reminders, Michael.

4 targets failed during updating.  I don't know if it is serious.   
The bjam output is below.

Best,
Yon


[Wed Sep 19|yon|/Developer/YV-dev/Bayes++] bjam --v2 -sBOOST_ROOT="../ 
boost_1_33_1"
...patience...
...found 1014 targets...
...updating 53 targets...
MkDir1 target
MkDir1 target/BayesFilter
MkDir1 target/BayesFilter/gcc
MkDir1 target/BayesFilter/gcc/debug
MkDir1 target/BayesFilter/gcc/debug/link-static
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/bayesFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/bayesFltAlg.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/matSup.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/UdU.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/covFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/infFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/infRtFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/itrFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/SIRFlt.o
BayesFilter/SIRFlt.hpp: In constructor  
'Bayesian_filter::SIR_scheme::SIR_scheme(size_t, size_t,  
Bayesian_filter::SIR_random&)':
BayesFilter/SIRFlt.hpp:231: warning:  
'Bayesian_filter::SIR_scheme::resamples' will be initialized after
BayesFilter/SIRFlt.hpp:227: warning:    
'Bayesian_filter_matrix::DenseVec Bayesian_filter::SIR_scheme::wir'
BayesFilter/SIRFlt.cpp:202: warning:   when initialized here
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/UDFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/unsFlt.o
gcc.compile.c++ target/BayesFilter/gcc/debug/link-static/CIFlt.o
gcc.archive target/BayesFilter/gcc/debug/link-static/libBayesFilter.a
MkDir1 target/Simple
MkDir1 target/Simple/gcc
MkDir1 target/Simple/gcc/release
gcc.compile.c++ target/Simple/gcc/release/simpleExample.o
MkDir1 target/BayesFilter/gcc/release
MkDir1 target/BayesFilter/gcc/release/link-static
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/bayesFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/bayesFltAlg.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/matSup.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/UdU.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/covFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/infFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/infRtFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/itrFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/SIRFlt.o
BayesFilter/SIRFlt.hpp: In constructor  
'Bayesian_filter::SIR_scheme::SIR_scheme(size_t, size_t,  
Bayesian_filter::SIR_random&)':
BayesFilter/SIRFlt.hpp:231: warning:  
'Bayesian_filter::SIR_scheme::resamples' will be initialized after
BayesFilter/SIRFlt.hpp:227: warning:    
'Bayesian_filter_matrix::DenseVec Bayesian_filter::SIR_scheme::wir'
BayesFilter/SIRFlt.cpp:202: warning:   when initialized here
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/UDFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/unsFlt.o
gcc.compile.c++ target/BayesFilter/gcc/release/link-static/CIFlt.o
gcc.archive target/BayesFilter/gcc/release/link-static/libBayesFilter.a
gcc.link target/Simple/gcc/release/simple
/usr/bin/ld: unknown flag: --strip-all
collect2: ld returned 1 exit status

     "g++"     -o "target/Simple/gcc/release/simple"  "target/Simple/ 
gcc/release/simpleExample.o" "target/BayesFilter/gcc/release/link- 
static/libBayesFilter.a"     -Wl,--strip-all

...failed gcc.link target/Simple/gcc/release/simple...
MkDir1 target/PV
MkDir1 target/PV/gcc
MkDir1 target/PV/gcc/release
gcc.compile.c++ target/PV/gcc/release/PV.o
gcc.link target/PV/gcc/release/pv
/usr/bin/ld: unknown flag: --strip-all
collect2: ld returned 1 exit status

     "g++"     -o "target/PV/gcc/release/pv"  "target/PV/gcc/release/ 
PV.o" "target/BayesFilter/gcc/release/link-static/ 
libBayesFilter.a"     -Wl,--strip-all

...failed gcc.link target/PV/gcc/release/pv...
MkDir1 target/PV_SIR
MkDir1 target/PV_SIR/gcc
MkDir1 target/PV_SIR/gcc/release
gcc.compile.c++ target/PV_SIR/gcc/release/PV_SIR.o
gcc.link target/PV_SIR/gcc/release/pv_sir
/usr/bin/ld: unknown flag: --strip-all
collect2: ld returned 1 exit status

     "g++"     -o "target/PV_SIR/gcc/release/pv_sir"  "target/PV_SIR/ 
gcc/release/PV_SIR.o" "target/BayesFilter/gcc/release/link-static/ 
libBayesFilter.a"     -Wl,--strip-all

...failed gcc.link target/PV_SIR/gcc/release/pv_sir...
MkDir1 target/QuadCalib
MkDir1 target/QuadCalib/gcc
MkDir1 target/QuadCalib/gcc/release
gcc.compile.c++ target/QuadCalib/gcc/release/QuadCalib.o
gcc.link target/QuadCalib/gcc/release/quadcalib
/usr/bin/ld: unknown flag: --strip-all
collect2: ld returned 1 exit status

     "g++"     -o "target/QuadCalib/gcc/release/quadcalib"  "target/ 
QuadCalib/gcc/release/QuadCalib.o" "target/BayesFilter/gcc/release/ 
link-static/libBayesFilter.a"     -Wl,--strip-all

...failed gcc.link target/QuadCalib/gcc/release/quadcalib...
...failed updating 4 targets...
...updated 49 targets...

Re: [Bayes++] bjam Build question

[Michael S. <ma...@mi...>]

On Monday 17 September 2007 21:31, yon wrote:
> Hello,
>
> I am trying to rebuild Bayes++ using bjam (on my intel based mac
> running OS X 10.4.8), however I get the error below.  Is bjam failing
> to find gcc?  Can you provide any other advice?

Correct. You have to tell the build system that you have the 'gcc' toolset and 
any option that is requires.

You have set BOOST_ROOT to I think you need to look in 
../boost_1_33_1/tools/build/v2/user-config.jam

You can also have a user-config.jam file in your home directory (whatever that 
may be on OS X).

There is a short paragraph that direct you to do this in the Boost Build (v2) 
documentation...

Configure Boost.Build to recognize the build resources (such as compilers and 
libraries) you have installed on your system. Open the user-config.jam file 
in the Boost.Build root directory and follow the instructions there to 
describe your toolsets and libraries, and, if necessary, where they are 
located.


Michael

-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

[Bayes++] bjam Build question

[yon <yo...@ci...>]

Hello,

I am trying to rebuild Bayes++ using bjam (on my intel based mac  
running OS X 10.4.8), however I get the error below.  Is bjam failing  
to find gcc?  Can you provide any other advice?

By "rebuild", I mean that I have built Bayes++ before on the same  
machine, and am now having isolated problems instantiating a formerly  
functional class in Bayes++, and thought somehow my compiled library  
may have gotten corrupted.

Thank you,
Yon



[Mon Sep 17|yon|/Developer/YV-dev/Bayes++] bjam --v2 -sBOOST_ROOT="../ 
boost_1_33_1"
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build/feature.jam:431:  
in feature.validate-value-string from module feature
error: "gcc" is not a known value of feature <toolset>
error: legal values:
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build/property.jam:250:  
in validate1 from module property
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build/property.jam:273:  
in property.validate from module property
/Developer/YV-dev/boost_1_33_1/tools/build/v2/tools/builtin.jam:176:  
in variant from module builtin
project-root.jam:7: in modules.load from module Jamfile</Developer/YV- 
dev/Bayes++>
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build/project.jam:306:  
in load-jamfile from module project
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build/project.jam:68:  
in load from module project
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build/project.jam:164:  
in project.find from module project
/Developer/YV-dev/boost_1_33_1/tools/build/v2/build-system.jam:136:  
in load from module build-system
../boost_1_33_1/tools/build/v2/kernel/modules.jam:259: in import from  
module modules
../boost_1_33_1/tools/build/v2/kernel/bootstrap.jam:153: in boost- 
build from module
../boost_1_33_1/boost-build.jam:12: in module scope from module

[Bayes++] simple example of crash on destruction of SIR_scheme

[yon <yo...@ci...>]

Hello All,

I took the time to remove elements of my program until nothing else  
remained.  A different search strategy would have been smarter.

The program below hangs when the SIR_scheme instance is destroyed.   
This is a fresh project, cleaned, etc.  It hangs when the std::vector  
allocator is destroying each element of the array, because the array  
bounds are invalid after SIR_scheme is created.

I didn't have such problems earlier.  I'm assuming one of the  
following has gotten corrupted on my computer: bayes++, STL, boost,  
or gcc.  Any guesses?  My next idea is to rebuild libraries.  I'll  
start with bayes++.

cheers,
Yon


#include "../Bayes++/BayesFilter/bayesFlt.hpp"
#include "../Bayes++/BayesFilter/SIRFlt.hpp"

namespace ublas = boost::numeric::ublas;

using namespace Bayesian_filter;
using namespace boost::numeric::ublas;


struct SIR_random_my : public Bayesian_filter::SIR_random
{
public:
	void normal(Bayesian_filter::FM::DenseVec& v) {};
	void uniform_01(Bayesian_filter::FM::DenseVec& v) {};

};

int main(void)
{
	SIR_random_my RandomHelper;

	{ Bayesian_filter::SIR_scheme mySirScheme2(9, 13, RandomHelper);}
}

Re: [Bayes++] Crash on destruction of SIR_scheme

[yon <yo...@ci...>]

Hello,

Thank you for the advice.  I received some other suggestions in the  
mean time and haven't found an answer.

I have little luck with the debugger, including hardware watchpoints  
on those memory locations.

Indeed, it's not clear that the debugger is indicating this problem  
when it occurs.  However, it is clear that the resamples array is in  
a corrupted state as soon as SIR_scheme is created.  I have resisted,  
but may be forced., to inspect matters at the assembler level.

The following code reproduces the corrupt state for me:

		SIR_random_impl RandomHelper;
		bf::SIR_scheme mySirScheme(6, 10, RandomHelper);

The RandomHelper is not called in the SIR_scheme constructor, so it  
can't possibly be to blame.

Almost any operation on resamples after that breaks it (because the  
array bounds are completely wrong).

I verified that I can instantiate and manipulate other  
std::vector<size_t> on my computer.

In the SIR_scheme constructor, the only significant operation after  
resamples is created is the initialization of the wir member (an  
FMVec type).

The compiler is gcc 4.0.1.  My platform is OS X.  The dev environment  
is xcode using the gdb debugger and the xcode debugger.

Thanks for any thoughts.

Best,
Yon

Re: [Bayes++] Crash on destruction of SIR_scheme

[Michael S. <ma...@mi...>]

On Sunday 09 September 2007 00:57, yon wrote:
> Hello Michael,
>
> Copying this message to the list in case it may be useful to others.
>
> Following up on my previous email, the resamples vector has a valid
> memory allocation inside the SIR_scheme constructor when it is
> created, as I am able to verify in the debugger.  As soon as I step
> from that constructor back out to the constructor of the class I
> derived from SIR_scheme, the _M_finish ptr of resamples' allocator is
> invalid in the way I described before.  Program-wise, nothing occurs
> between (not even the constructors of other members are called yet),
> except that the context in which I am looking at this variable changes.

Two possibilities.
a) Something inbetween is changing it. I guess you would have to single step 
and the machine code level.
b) The debugger is not showing the corruption until to late.

> As noted earlier, when I destroy my class instance, the program is
> stuck in an infinite loop due to the invalid _M_finish ptr, as I
> verify in the debugger.
>
> I can't see any way for this to be occuring.  I'm going to try to
> change some project related settings and rearrange the order of
> members of the class to see if there is any change in behavior.

This is starting to look like a compiler bug. Which compiler are you using?
Do you have a small test case? If so maybe you can send it to see if the 
problem is reproducable.

All the best,
	Michael
-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

Re: [Bayes++] Crash on destruction of SIR_scheme

[yon <yo...@ci...>]

Hello Michael,

Copying this message to the list in case it may be useful to others.

Following up on my previous email, the resamples vector has a valid =20
memory allocation inside the SIR_scheme constructor when it is =20
created, as I am able to verify in the debugger.  As soon as I step =20
from that constructor back out to the constructor of the class I =20
derived from SIR_scheme, the _M_finish ptr of resamples' allocator is =20=

invalid in the way I described before.  Program-wise, nothing occurs =20
between (not even the constructors of other members are called yet), =20
except that the context in which I am looking at this variable changes.

As noted earlier, when I destroy my class instance, the program is =20
stuck in an infinite loop due to the invalid _M_finish ptr, as I =20
verify in the debugger.

I can't see any way for this to be occuring.  I'm going to try to =20
change some project related settings and rearrange the order of =20
members of the class to see if there is any change in behavior.

Thanks for any advice,
Yon



On Sep 7, 2007, at 12:03 PM, yon wrote:

> Thank you for the feedback and insight.
>
> I can report that the state of the SIR_scheme resamples allocator =20
> seems to be invalid after construction.  My class's constructor =20
> invokes the SIR_scheme constructor with an s_size argument of 130.  =20=

> This argument is passed to the resamples constructor as the s_size =20
> parameter.  Then when control returns to my class's constructor =20
> after SIR_scheme is constructed, the resamples's allocator's =20
> _M_finish pointer is equal to the s_size argument of 130 (=3D0x82) =20
> instead of _M_start + 130.  I don't see any way that I could have =20
> corrupted this pointer in between when SIR_scheme is constructed =20
> and when control returns to the class constructor that called it =20
> (which is inherited from SIR_scheme).
>
> As I noted, when resamples is then destroyed, it is stuck in an =20
> infinite loop iterating _M_start until an _M_finish value that =20
> precedes it.
>
> I felt too that the error more likely to be in my own code, however =20=

> I am at a loss to explain this behavior, or to understand why I did =20=

> not encounter it before.  The latter observation would certainly =20
> point to an error somewhere in my code.
>
> For the reason I mention here, watching that location in memory is =20
> not too useful, because none of my code is called before the =20
> object's state appears to be invalidated.
>
> Thanks for any advice.
>
> Regards,
> Yon
>
>
> On Sep 6, 2007, at 5:21 AM, Michael Stevens wrote:
>
>> Hello,
>>
>> On Thursday 06 September 2007 06:02, yon wrote:
>>> Hello,
>>>
>>> Just to follow up, I have isolated the problem to the resamples
>>> member of SIR_scheme.
>>>
>>> The allocator for the underlying vector of unsigned ints obtains an
>>> invalid finish ptr at some point, as noted, which causes the program
>>> to hang when deconstructed.
>>>
>>> I don't think this member is touched in my code in the case under
>>> consideration, but am attempting to isolate where this occurs.
>>>
>>> If someone knows what operations can modify the finish ptr of the
>>> vector allocator for such a vector (some sort of invalid resize
>>> operation?), that would be helpful to know.
>>
>> I think the most likely is probably an array overflow or pointer =20
>> problem
>> causing the finish ptr to be corrupted. This could be in Bayes++ =20
>> but much
>> more likely to be in your code :-)
>>
>> Not sure what system you are developing with but the debugger can =20
>> help you out
>> here. Certainly the Visual C++ debugger has the ability to set a =20
>> breakpoint
>> which is trigger when a memory location is modifed. You can use =20
>> this to find
>> any corruption of the finish ptr.
>> Alternatively under Linux you the valgrind tool is very helpful to =20=

>> look for
>> incorrect memory access.
>>
>> Good luck,
>> 	Michael
>> --=20
>> ___________________________________
>> Michael Stevens Systems Engineering
>>
>> 34128 Kassel, Germany
>> Phone/Fax: +49 561 5218038
>>
>> Navigation Systems, Estimation  and
>>                  Bayesian Filtering
>>     http://bayesclasses.sf.net
>> ___________________________________
>>
>> ---------------------------------------------------------------------=20=

>> ----
>> This SF.net email is sponsored by: Splunk Inc.
>> Still grepping through log files to find problems?  Stop.
>> Now Search log events and configuration files using AJAX and a =20
>> browser.
>> Download your FREE copy of Splunk now >>  http://get.splunk.com/
>> _______________________________________________
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>> https://lists.sourceforge.net/lists/listinfo/bayesclasses-general
>
> __________________________________
> Yon Visell
>
> Centre for Intelligent Machines, McGill University
> http://cim.mcgill.ca/~yon
>
> CIRMMT, Schulich School of Music, McGill University
> http://www.music.mcgill.ca/cirmmt
>
> University of Applied Sciences & Arts Z=FCrich
> CLOSED: Closing the loop of sound evaluation and design
> http://closed.ircam.fr
>
> Zero-Th Association, Pula, Croatia
> http://www.zero-th.org
>
> Tel +1 514 967 1648
> Fax +1 415 520 0193
>
>
>



__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

Re: [Bayes++] Crash on destruction of SIR_scheme

[Michael S. <ma...@mi...>]

Hello,

On Thursday 06 September 2007 06:02, yon wrote:
> Hello,
>
> Just to follow up, I have isolated the problem to the resamples
> member of SIR_scheme.
>
> The allocator for the underlying vector of unsigned ints obtains an
> invalid finish ptr at some point, as noted, which causes the program
> to hang when deconstructed.
>
> I don't think this member is touched in my code in the case under
> consideration, but am attempting to isolate where this occurs.
>
> If someone knows what operations can modify the finish ptr of the
> vector allocator for such a vector (some sort of invalid resize
> operation?), that would be helpful to know.

I think the most likely is probably an array overflow or pointer problem 
causing the finish ptr to be corrupted. This could be in Bayes++ but much 
more likely to be in your code :-)

Not sure what system you are developing with but the debugger can help you out 
here. Certainly the Visual C++ debugger has the ability to set a breakpoint 
which is trigger when a memory location is modifed. You can use this to find 
any corruption of the finish ptr.
Alternatively under Linux you the valgrind tool is very helpful to look for 
incorrect memory access.

Good luck,
	Michael
-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

Re: [Bayes++] Crash on destruction of SIR_scheme

[yon <yo...@ci...>]

Hello,

Just to follow up, I have isolated the problem to the resamples =20
member of SIR_scheme.

The allocator for the underlying vector of unsigned ints obtains an =20
invalid finish ptr at some point, as noted, which causes the program =20
to hang when deconstructed.

I don't think this member is touched in my code in the case under =20
consideration, but am attempting to isolate where this occurs.

If someone knows what operations can modify the finish ptr of the =20
vector allocator for such a vector (some sort of invalid resize =20
operation?), that would be helpful to know.

Best,
Yon


__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

Re: [Bayes++] Crash on destruction of SIR_scheme

[yon <yo...@ci...>]

Hello,

Just to follow up on the problem I asked about:

-- The program does not crash, rather it hangs.

-- When I interrupt the hang by pausing in the debugger, the stack =20
trace looks similar to that noted below, but slightly different:

#0  std::_Destroy<unsigned long*, std::allocator<unsigned long> > =20
(__first=3D0x856ef238, __last=3D0x82, __alloc=3D@0xbfffe4ef) at /usr/=20
include/c++/4.0.0/bits/stl_construct.h:173
#1  0x315c2895 in std::vector<unsigned long, std::allocator<unsigned =20
long> >::~vector (this=3D0x30852844) at /usr/include/c++/4.0.0/bits/=20
stl_vector.h:273
#2  0x315c2d72 in Bayesian_filter::SIR_scheme::~SIR_scheme =20
(this=3D0x30852820, __vtt_parm=3D0x316057a4) at /Developer/YV-dev/=20
dcppf-0.91/../Bayes++/BayesFilter/SIRFlt.hpp:179
#3  0x315c4599 in SIR_scheme_ext::~SIR_scheme_ext (this=3D0x30852820) =20=

at /Developer/YV-dev/dcppf-0.91/SIR_scheme_ext.h:21

it is always stuck in std::_Destroy which is called in response to =20
destroying the unsigned long vector noted above in this section of =20
~vector:

       ~vector()
       { std::_Destroy(this->_M_impl._M_start, this->_M_impl._M_finish,
		      this->get_allocator());
       }

I don't know where the unsigned long vector being destroyed here =20
resides.


The arguments to std::_Destroy in this call look like the problem to =20
me.  In the relevant section of std::_Destroy,

   template<typename _ForwardIterator, typename _Allocator>
     void
     _Destroy(_ForwardIterator __first, _ForwardIterator __last,
	     _Allocator __alloc)
     {
       for (; __first !=3D __last; ++__first)
	__alloc.destroy(&*__first);
     }

The address __last is always the address with decimal value 130 while =20=

__first is typically some large number orders of magnitude higher.  =20
130 represents the number of samples (particles) in the filter, and =20
presumably is the length of the vector here.

It looks to me like this->_M_impl._M_finish  (which becomes __last) =20
is not set correctly in the std::vector.  If I understand correctly, =20
this vector has somehow acquired a pointer to its last element which =20
has an address that is errantly set equal to its length.

Since I am not making pointer manipulations with the ublas vectors, I =20=

am not sure how I could have caused this in my own code, and in any =20
case, I can't find the vector that is responsible in the Bayes++ code =20=

or anywhere else.


Thanks for any advice,
Yon


On Sep 5, 2007, at 6:00 PM, yon wrote:

> Hello,
>
> I'm a bit stuck with a bug afflicting my program that uses Bayes++.
>
> I am consistently crashing when the destructor for SIR_scheme is =20
> called by a class I inherited from it.  The trace below implicates =20
> the destructor for an unsigned long vector, but there is no member =20
> of this type in SIR_scheme (nor in the other classes related to it, =20=

> as far as I can tell).
>
> Can anyone offer me advice as to how to locate the cause, or advise =20=

> as to whether this is my code or a problem in one of the libraries?
>
> Thank you,
> Yon
>
>
> #0  0x315c2539 in __gnu_cxx::new_allocator<unsigned long>::destroy =20
> (this=3D0xae6ce8c4, __p=3D0x82) at /usr/include/c++/4.0.0/ext/=20
> new_allocator.h:107
> #1  0x315c2895 in std::vector<unsigned long, =20
> std::allocator<unsigned long> >::~vector (this=3D0x30852844) at /usr/=20=

> include/c++/4.0.0/bits/stl_vector.h:273
> #2  0x315c2d72 in Bayesian_filter::SIR_scheme::~SIR_scheme =20
> (this=3D0x30852820, __vtt_parm=3D0x316057a4) at /Developer/YV-dev/=20
> dcppf-0.91/../Bayes++/BayesFilter/SIRFlt.hpp:179
> #3  0x315c4599 in SIR_scheme_ext::~SIR_scheme_ext (this=3D0x30852820) =20=

> at /Developer/YV-dev/dcppf-0.91/SIR_scheme_ext.h:21
> .
> .
>
>
> __________________________________
> Yon Visell
>
> Centre for Intelligent Machines, McGill University
> http://cim.mcgill.ca/~yon
>
> CIRMMT, Schulich School of Music, McGill University
> http://www.music.mcgill.ca/cirmmt
>
> University of Applied Sciences & Arts Z=FCrich
> CLOSED: Closing the loop of sound evaluation and design
> http://closed.ircam.fr
>
> Zero-Th Association, Pula, Croatia
> http://www.zero-th.org
>
> Tel +1 514 967 1648
> Fax +1 415 520 0193
>
>
>



__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

[Bayes++] Crash on destruction of SIR_scheme

[yon <yo...@ci...>]

Hello,

I'm a bit stuck with a bug afflicting my program that uses Bayes++.

I am consistently crashing when the destructor for SIR_scheme is =20
called by a class I inherited from it.  The trace below implicates =20
the destructor for an unsigned long vector, but there is no member of =20=

this type in SIR_scheme (nor in the other classes related to it, as =20
far as I can tell).

Can anyone offer me advice as to how to locate the cause, or advise =20
as to whether this is my code or a problem in one of the libraries?

Thank you,
Yon


#0  0x315c2539 in __gnu_cxx::new_allocator<unsigned long>::destroy =20
(this=3D0xae6ce8c4, __p=3D0x82) at /usr/include/c++/4.0.0/ext/=20
new_allocator.h:107
#1  0x315c2895 in std::vector<unsigned long, std::allocator<unsigned =20
long> >::~vector (this=3D0x30852844) at /usr/include/c++/4.0.0/bits/=20
stl_vector.h:273
#2  0x315c2d72 in Bayesian_filter::SIR_scheme::~SIR_scheme =20
(this=3D0x30852820, __vtt_parm=3D0x316057a4) at /Developer/YV-dev/=20
dcppf-0.91/../Bayes++/BayesFilter/SIRFlt.hpp:179
#3  0x315c4599 in SIR_scheme_ext::~SIR_scheme_ext (this=3D0x30852820) =20=

at /Developer/YV-dev/dcppf-0.91/SIR_scheme_ext.h:21
.
.


__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

Re: [Bayes++] Accuracy of Kalman filter prediction

[Nithya N. V. <nvi...@cs...>]

Thank you very much Michael. This info helps!

-Nithya


On Sat, 12 May 2007, Michael Stevens wrote:

> Date: Sat, 12 May 2007 19:23:42 +0200
> From: Michael Stevens <ma...@mi...>
> To: bay...@li...
> Subject: Re: [Bayes++] Accuracy of Kalman filter prediction
>
> Dear Nithya,
>
> On Monday 07 May 2007 18:12, Nithya Nirmal Vijayakumar wrote:
> > Hi all,
> >
> > I am using Bayes++ Covariance filter for prediction of interger/float
> > values in a sequence. From general reading, I found that Kalman filter can
> > say how good its prediction is. Can I find out how good my prediciton is
> > from the Covariance filter?
>
> The Coveriance filter is the standard implementation of the Kalman filter.
> That is it estimates the state vector (x) and a covariance matrix (X). The
> covariance is the estimate of how good the predicted/estimate state is.
>
> > I currently follow the simpleExample.cpp for
> > predict, update steps. Is there a function which I can invoke to get its
> > prediction accuracy?
>
> The simpleExample is 1D position estimator. In this case there is only a
> single element in the covariance matrix, the variance of the position
> estimate. This is printed as  along with the state estimate at each step.
>
> If you take the square root of the variance you have the standard deviation of
> the state estimate. The standard deviation is proportional to the
> uncertainity in the state. Therefore the smaller it is the more certain the
> prediction/estimate is.
>
> Michael
>
> --
> ___________________________________
> Michael Stevens Systems Engineering
>
> 34128 Kassel, Germany
> Phone/Fax: +49 561 5218038
>
> Navigation Systems, Estimation  and
>                  Bayesian Filtering
>     http://bayesclasses.sf.net
> ___________________________________
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by DB2 Express
> Download DB2 Express C - the FREE version of DB2 express and take
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>

Re: [Bayes++] Accuracy of Kalman filter prediction

[Michael S. <ma...@mi...>]

Dear Nithya,

On Monday 07 May 2007 18:12, Nithya Nirmal Vijayakumar wrote:
> Hi all,
>
> I am using Bayes++ Covariance filter for prediction of interger/float
> values in a sequence. From general reading, I found that Kalman filter can
> say how good its prediction is. Can I find out how good my prediciton is
> from the Covariance filter?

The Coveriance filter is the standard implementation of the Kalman filter. 
That is it estimates the state vector (x) and a covariance matrix (X). The 
covariance is the estimate of how good the predicted/estimate state is.

> I currently follow the simpleExample.cpp for 
> predict, update steps. Is there a function which I can invoke to get its
> prediction accuracy?

The simpleExample is 1D position estimator. In this case there is only a 
single element in the covariance matrix, the variance of the position 
estimate. This is printed as  along with the state estimate at each step.

If you take the square root of the variance you have the standard deviation of 
the state estimate. The standard deviation is proportional to the 
uncertainity in the state. Therefore the smaller it is the more certain the 
prediction/estimate is.

Michael

-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

Re: [Bayes++] Usage clarification for linear algebra classes

[Michael S. <ma...@mi...>]

On Wednesday 09 May 2007 17:36, yon wrote:
> Dear Michael, Dear List,
>
> Can someone provide a quick indication of usage compatibility and
> conversion between the different linear algebra classes?
>
> Specifically, which of FM::Vec, ublas::vector<float>, and the bayes++
> column_matrix implementations are compatible, and how to convert
> between them?  I became stuck on this and re-implemented two
> functions for which I could not figure out the conversions, but it
> would be better that I handle the conversions correctly.


'FM::Vec' is derived from 'ublas::vector<double>'.
It is therefore type compatible with a ublas::vector<double> but NOT with
a ublas::vector<float>.

I assume by 'column_matrix' you mean a 'ublas::matrix_column'? 
The uBlas 'column( matrix, col )' function allows you to create 
a 'matrix_column' which references a given matrix. A good reference for the 
type of usage possible look at SIRFlt.cpp itself.

The 'matrix_column' class has no type relationship with any vector class. 
However the generic assignment and expression operations in uBLAS allow you to 
use it where a the other vector classes can be used.

You own code will also have to be generic (use templates) if it want to be 
able to operate on the different types as defined by the uBLAS Vector 
concept.

Michael
-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

Re: [Bayes++] Deriving observe likelihood model from Likelihood_observe_model for SIR_scheme

[Michael S. <ma...@mi...>]

On Wednesday 09 May 2007 17:54, yon wrote:
> Dear List,
>
> Apologies for the email I'm replying to.. this was the error I'd
> meant to send:
>
> /Developer/YV-dev/DcpTest/vecDcp.cpp: In constructor
> 'CDcp_observe_likelihood::CDcp_observe_likelihood(int, int, int, int,
> float, float)':
> /Developer/YV-dev/DcpTest/vecDcp.cpp:490: error: no matching function
> for call to
> 'Bayesian_filter_matrix::detail::FMVec<Bayesian_filter_matrix::detail::B
> aseVector>::FMVec()'
>
> The constructor for FMVec() appears not to be found, so I would guess
> I have an includes problem.
>
> The code is below, followed by the includes.  The class has a member
>
> 	bf::FM::Vec mvecRawWeights;	// Non-normalized weights

OK easy fix. FM::Vec does not have a default constructor. Which is what the 
compiler is complaining about.

In your CDcp_observe_likelihood construct you need to explictly construct
mvecRawWeights with a specific size. If you want it to be empty use
	mvecRawWeights( Bayesian_filter_matrix::Empty )

Personally I find default constructing vectors or matrix to 0 size is rarely 
what you want and therefore rather error prone. When you come to use these 
variables you get a runtime error. Therefore in the derived classes I use I 
don't provide a default construtor.

All the best,
	Michael

-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

Re: [Bayes++] Deriving observe likelihood model from Likelihood_observe_model for SIR_scheme

[yon <yo...@ci...>]

Dear List,

Apologies for the email I'm replying to.. this was the error I'd =20
meant to send:

/Developer/YV-dev/DcpTest/vecDcp.cpp: In constructor =20
'CDcp_observe_likelihood::CDcp_observe_likelihood(int, int, int, int, =20=

float, float)':
/Developer/YV-dev/DcpTest/vecDcp.cpp:490: error: no matching function =20=

for call to =20
'Bayesian_filter_matrix::detail::FMVec<Bayesian_filter_matrix::detail::B=20=

aseVector>::FMVec()'

The constructor for FMVec() appears not to be found, so I would guess =20=

I have an includes problem.

The code is below, followed by the includes.  The class has a member

	bf::FM::Vec mvecRawWeights;	// Non-normalized weights

which I guess is where FMVec() comes in to play.

Thanks,
Yon


//=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D =20
CDcp_observe_likelihood::CDcp_observe_likelihood

CDcp_observe_likelihood::CDcp_observe_likelihood(
		int Nout,int NModels, int NParticles, int WinSize, =
TDouble Sigma, =20
TDouble Beta)
	: Likelihood_observe_model(Nout)
	// The 2nd constructor allocates memory to store the observation =
as =20
the member z
{
	mNModels =3D NModels;
	mNParticles =3D NParticles;
	mWinSize =3D WinSize;
	mNout =3D Nout;
=09
	mInvSd =3D sqrt(Sigma);
	mBeta =3D Beta;
	mInvSigmaTimesWinSize =3D 1.0 / (WinSize * Sigma);
=09
	resetState();
}



#include <math.h>
#include <iostream>
#include <stdlib.h>
#include <assert.h>
#include <fstream>
#include "yvDefines.h"

#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/matrix_proxy.hpp>
#include <boost/numeric/ublas/io.hpp>

#include "../Bayes++/BayesFilter/bayesFlt.hpp"
#include "../Bayes++/BayesFilter/SIRFlt.hpp"
#include "../Bayes++/BayesFilter/models.hpp"

using namespace boost::numeric::ublas;



__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193




__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

[Bayes++] Usage clarification for linear algebra classes

[yon <yo...@ci...>]

Dear Michael, Dear List,

Can someone provide a quick indication of usage compatibility and =20
conversion between the different linear algebra classes?

Specifically, which of FM::Vec, ublas::vector<float>, and the bayes++ =20=

column_matrix implementations are compatible, and how to convert =20
between them?  I became stuck on this and re-implemented two =20
functions for which I could not figure out the conversions, but it =20
would be better that I handle the conversions correctly.

Thanks,
Yon


__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

[Bayes++] Deriving observe likelihood model from Likelihood_observe_model for SIR_scheme

[yon <yo...@ci...>]

Dear List, Dear Michael,

I'm adapting SIR_scheme to use in my application, in which I have an =20
explicit model for the dynamics (although the nature of the model =20
necessitated that I derive a new class from SIR_scheme because the =20
dynamics is non-static).

Attempting to compile my program, I encounter the an error message =20
which I cannot figure out:

error: expected primary-expression before 'int'
error: no matching function for call to =20
'Bayesian_filter_matrix::detail::FMVec<Bayesian_filter_matrix::detail::B=20=

aseVector>::FMVec()'


both errors referencing the call to the Likelihood_observe_model =20
constructor here:



CDcp_observe_likelihood::CDcp_observe_likelihood(int Nout,int =20
NModels, int NParticles, int WinSize, TDouble Sigma, TDouble Beta)
	: Bayesian_filter::Likelihood_observe_model(int Nout)
	// The 2nd constructor allocates memory to store the observation =
as =20
the member z
{
	mNModels =3D NModels;
	mNParticles =3D NParticles;
	mWinSize =3D WinSize;
	mNout =3D Nout;
=09
	mInvSd =3D sqrt(Sigma);
	mBeta =3D Beta;
	mInvSigmaTimesWinSize =3D 1.0 / (WinSize * Sigma);
=09
	resetState();
}


If it is relevant, at the top of the file I have the includes listed =20
below.  Thanks for any assistance.

-- Yon



#include <math.h>
#include <iostream>
#include <stdlib.h>
#include <assert.h>
#include <fstream>
#include "yvDefines.h"

#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/matrix_proxy.hpp>
#include <boost/numeric/ublas/io.hpp>

#include "../Bayes++/BayesFilter/bayesFlt.hpp"
#include "../Bayes++/BayesFilter/SIRFlt.hpp"
using namespace boost::numeric::ublas;


__________________________________
Yon Visell

Centre for Intelligent Machines, McGill University
http://cim.mcgill.ca/~yon

CIRMMT, Schulich School of Music, McGill University
http://www.music.mcgill.ca/cirmmt

University of Applied Sciences & Arts Z=FCrich
CLOSED: Closing the loop of sound evaluation and design
http://closed.ircam.fr

Zero-Th Association, Pula, Croatia
http://www.zero-th.org

Tel +1 514 967 1648
Fax +1 415 520 0193

[Bayes++] Accuracy of Kalman filter prediction

[Nithya N. V. <nvi...@cs...>]

Hi all,

I am using Bayes++ Covariance filter for prediction of interger/float 
values in a sequence. From general reading, I found that Kalman filter can 
say how good its prediction is. Can I find out how good my prediciton is 
from the Covariance filter? I currently follow the simpleExample.cpp for 
predict, update steps. Is there a function which I can invoke to get its 
prediction accuracy?


thanks,
Nithya

[Bayes++] Estimate robot location from 5 independent estimates each with a varying uncertainty

[Martin N. <mar...@ho...>]

Hello everyone,I am currently doing a team project to build a robot. My rol=
e is to design the decision system. Currently I am working on estimating th=
e robot=92s location. I have inputs from about 5 different systems specifyi=
ng an estimate of the current location. Each of these will contain an (x,y)=
 coordinate and an uncertainty in pixels based upon a common map. The uncer=
tainty for each system varies depending upon where the robot is (e.g. when =
far away from a surveillance camera the uncertainty will be larger than whe=
n close to the camera). Some of these systems can also supply a rotation.I =
need to use a filter to combine these estimates into one with a new uncerta=
inty based upon the input uncertainties.I have read some of the past posts =
on this mailing list and was thinking about using the 'Addative_predict_mod=
el' in Bayes++. Would the noise be the uncertainty I am being given by the =
other systems? I was hoping someone could spend a couple of minutes and jus=
t point me in the right direction.Any help would be greatly appreciated.Tha=
nks,Martin
_________________________________________________________________
Discover the new Windows Vista
http://search.msn.com/results.aspx?q=3Dwindows+vista&mkt=3Den-US&form=3DQBR=
E=

[Bayes++] Difference between Addative and Gaussian Predict models

[Nithya N. V. <nvi...@cs...>]

Hi,

I am trying to understand the different predict and oberservation models
in Bayess++ to figure out the best model to use for my application.
Could someone point me to a document or website where I can learn more
about them?  I am particularly interested in knowing more about the
Addative predict models and the Gaussian predict models.

My application models two entities independant of each other: 1) the daily
temperature and 2) network traffic in a LAN setup. The assumption is they
are stochastic.

Your suggestions will greatly help me.

Thank you very much,
Nithya

Re: [Bayes++] Segmentation fault with gcc 4.1

[Michael S. <ma...@mi...>]

On Tuesday 19 December 2006 21:22, Nicola Bellotto wrote:
> Hello,
>
> I have recently installed Linux on a new laptop with an Intel Core 2 Duo
> processor. After compiling the last version Bayes++ (2003.8-6), I had a
> segmentation fault when I tried to run the sample PV_SIR.
> With a little of backtrace, I discovered the cause was the gcc
> option '-fstrict-aliasing', included in the '-O2' optimization. Removed
> that option and inserting manually all the others included in '-O2' and
> '-O3', the program run successfully.
> It's not clear to me whether the problem is on gcc, kernel or Bayes++.
>
> The gcc I use is the following:
> gcc (GCC) 4.1.1 20061011 (Red Hat 4.1.1-30)
> Copyright (C) 2006 Free Software Foundation, Inc.
> This is free software; see the source for copying conditions.  There is NO
> warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
>
> This is the kernel version;
> 2.6.18-1.2849.fc6 #1 SMP Fri Nov 10 12:45:28 EST 2006 i686 i686 i386
> GNU/Linux
>
> Cheers,
>
> Nicola

The following GCC bug may be the root cause.

http://gcc.gnu.org/bugzilla/show_bug.cgi?id=30088

The bug seems to be rather unstable. My later version of GCC 
'version 4.1.2 20061115 (prerelease) (SUSE Linux)' does not seem to have a 
problem with Bayes++ but the problem probably exists in other situations.

Michael


-- 
___________________________________
Michael Stevens Systems Engineering

34128 Kassel, Germany
Phone/Fax: +49 561 5218038

Navigation Systems, Estimation  and
                 Bayesian Filtering
    http://bayesclasses.sf.net
___________________________________

Re: [Bayes++] predict in EKF

[Nicola B. <nb...@es...>]

On Friday 02 February 2007 04:54, Sunil Chomal wrote:
> In this I can implement f(x) in my predict class, so as to give the
> linearized update to state.  However, the state matrix Fx also requires
> re-computation as the jacobian of f(x) at x(k|k), and this needs to be
> updated too before call to predict. However, I am unable to figure how this
> is catered for in Bayes++, because f(x) is a const function, I cannot
> update Fx in f(x).

Just add another method to your model, e.g. "updateJacobian(double time)", and 
call it every time you need it before "f(x)".
Regards,
Nicola

-- 
------------------------------------------
Nicola Bellotto
Department of Computer Science
University of Essex
Wivenhoe Park
Colchester CO4 3SQ
United Kingdom

Room: 1N1.2.8
Tel. +44 (0)1206 874094
URL: http://privatewww.essex.ac.uk/~nbello
------------------------------------------

[Bayes++] predict in EKF

[Sunil C. <sjc...@tp...>]

Dear All,

 

I had a query regarding using Bayes++ Bayesian Filter Classes. I am trying
to use Bayes++ classes to implement a Nearly Coordinated Turn (NCT) Model
Kalman filter. As this dynamics are non-linear in nature, I need to use the
Extended Kalman Filter (EKF). I am using, Covariance_scheme from the Bayes++
classes. 

 

In this for the predict the code is as follows:

 

Bayes_base::Float Covariance_scheme::predict (Linrz_predict_model& f)

/* Standard Linrz prediction */

{

                // Extended Kalman state predict is f(x) directly

x = f.f(x);                             

                

// Predict state covariance

                noalias(X) = prod_SPD(f.Fx,X, tempX);

                noalias(X) += prod_SPD(f.G, f.q, tempX);

 

                return 1;

}

 

In this I can implement f(x) in my predict class, so as to give the
linearized update to state.  However, the state matrix Fx also requires
re-computation as the jacobian of f(x) at x(k|k), and this needs to be
updated too before call to predict. However, I am unable to figure how this
is catered for in Bayes++, because f(x) is a const function, I cannot update
Fx in f(x).

 

Could you kindly clarify the same?

 

Thank you for your time.

 

Regards,

 

Sunil Chomal